SyncVelocityRamp Class Reference

Provides generation of synchronized velocity ramps for a device. More...

#include <SyncVelocityRamp.hpp>

Public Member Functions
	SyncVelocityRamp (rw::models::Device *device)
	Constructs a ramp generator a device. More...
	SyncVelocityRamp (const rw::math::Q &vellimits, const rw::math::Q &acclimits)
	Constructs a ramp generator with specified velocity and acceleration limits. More...
virtual	~SyncVelocityRamp ()
	Destructor.
void	setTarget (const rw::math::Q &qstart, const rw::math::Q &qend)
	Specifies from and to where a ramp should be generated. More...
double	duration ()
	Returns the time it takes to run the profile. More...
rw::math::Q	getExtremumVelocities ()
	Returns the extremum of the velocities for the joints. More...
rw::math::Q	getExtremumAccelerations ()
	Returns the extremum of the acceleration for the joints. More...
rw::math::Q	x (double t)
	Returns the configuration for time t. More...
rw::math::Q	dx (double t)
	Returns the velocities for time t. More...
rw::math::Q	ddx (double t)
	Returns the accelerations for time t. More...

Detailed Description

Provides generation of synchronized velocity ramps for a device.

The synchronized velocity ramp calculates a profile for moving linearly between two configurations a quick as possible without violating the dynamic limitations specified.

Constructor & Destructor Documentation

SyncVelocityRamp() [1/2]

SyncVelocityRamp

(

rw::models::Device *

device

)

Constructs a ramp generator a device.

Parameters

device

[in] Device to construct ramp for

SyncVelocityRamp() [2/2]

SyncVelocityRamp	(	const rw::math::Q &	vellimits,
		const rw::math::Q &	acclimits
	)

Constructs a ramp generator with specified velocity and acceleration limits.

The limits are assumed to be symmetric and specified with the positive bound

Parameters

vellimits	[in] Velocity limits
acclimits	[in] Acceleration limits

Member Function Documentation

ddx()

rw::math::Q ddx

(

double

t

)

Returns the accelerations for time t.

If t<0 or t>duration() it returns accelerations corresponding to t=0 and t=duration(), respectively.

Parameters

t

[in] time

Returns

Accelerations at time t

duration()

double duration

(

)

Returns the time it takes to run the profile.

Returns

The duration

dx()

rw::math::Q dx

(

double

t

)

Returns the velocities for time t.

If t<0 or t>duration() it returns velocities corresponding to t=0 and t=duration(), respectively.

Parameters

t

[in] time

Returns

Velocities at time t

getExtremumAccelerations()

rw::math::Q getExtremumAccelerations

(

)

Returns the extremum of the acceleration for the joints.

Returns

Joint extremum accelerations

getExtremumVelocities()

rw::math::Q getExtremumVelocities

(

)

Returns the extremum of the velocities for the joints.

Returns

Joint extremum velocities

setTarget()

void setTarget	(	const rw::math::Q &	qstart,
		const rw::math::Q &	qend
	)

Specifies from and to where a ramp should be generated.

Parameters

qstart	[in] The start configuration
qend	[in] The end configuration

x()

rw::math::Q x

(

double

t

)

Returns the configuration for time t.

If t<0 or t>duration() it returns the start and end configurations respectively.

Parameters

t

[in] time

Returns

Configuration at time t

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The documentation for this class was generated from the following file:

• SyncVelocityRamp.hpp